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your testmap.png file needs to be in the same directory as testmap.yaml
if you use rosrun, your current directory in the Terminal should be where the testmap.yaml file is located
have you installed ros-noetic-map-server from apt? You should do so.

your testmap.png file needs to be in the same directory as ~~testmap.yaml~~

testmap.yaml

if you use ~~rosrun,~~ rosrun as a beginner, your current directory in the Terminal should be where the testmap.yaml file is ~~located~~located. (Later on, you can put the map in a ros package, but that takes more work to set up.)
have you installed ros-noetic-map-server from apt? You should do so.

your testmap.png file needs to be in the same directory as testmap.yaml
testmap.yaml
if you use rosrun as a beginner, your current directory in the Terminal should be where the testmap.yaml file is located. (Later on, you can put the map in a ros package, but that takes more work to set up.)

have you installed ros-noetic-map-server from apt? You should do so.

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